U.S. patent application number 12/700160 was filed with the patent office on 2011-08-04 for robot user interface for telepresence robot system.
This patent application is currently assigned to InTouch Technologies, Inc.. Invention is credited to Kevin Hanrahan, Charles S. Jordan, Marco Pinter, David Bjorn Roe, Daniel Steven Sanchez, Yulun Wang, Blair Whitney.
Application Number | 20110190930 12/700160 |
Document ID | / |
Family ID | 44342332 |
Filed Date | 2011-08-04 |
United States Patent
Application |
20110190930 |
Kind Code |
A1 |
Hanrahan; Kevin ; et
al. |
August 4, 2011 |
ROBOT USER INTERFACE FOR TELEPRESENCE ROBOT SYSTEM
Abstract
A robot system that includes a remote control station and a
robot that has a camera, a monitor and a microphone. The robot
includes a user interface that allows a user to link the remote
control station to access the robot. By way of example, the user
interface may include a list of remote control stations that can be
selected by a user at the robot site to link the robot to the
selected control station. The user interface can display a
connectivity prompt that allows a user at the robot site to grant
access to the robot. The connectivity prompt is generated in
response to a request for access by a remote control station. The
robot may include a laser pointer and a button that allows a user
at the robot site to turn the laser pointer on and off.
Inventors: |
Hanrahan; Kevin; (Santa
Barbara, CA) ; Pinter; Marco; (Santa Barbara, CA)
; Sanchez; Daniel Steven; (Summerland, CA) ;
Whitney; Blair; (Santa Barbara, CA) ; Roe; David
Bjorn; (Santa Barbara, CA) ; Jordan; Charles S.;
(Santa Barbara, CA) ; Wang; Yulun; (Goleta,
CA) |
Assignee: |
InTouch Technologies, Inc.
Goleta
CA
|
Family ID: |
44342332 |
Appl. No.: |
12/700160 |
Filed: |
February 4, 2010 |
Current U.S.
Class: |
700/248 ;
700/259 |
Current CPC
Class: |
B25J 9/0003 20130101;
B25J 9/1689 20130101; G16H 40/67 20180101; G16H 40/20 20180101;
G06Q 10/06 20130101 |
Class at
Publication: |
700/248 ;
700/259 |
International
Class: |
G05B 19/00 20060101
G05B019/00; G06F 19/00 20060101 G06F019/00 |
Claims
1. A robot system, comprising: a remote control station; and, a
robot that includes a camera, a monitor and a microphone, said
robot including a user interface that allows a user to link said
remote control station to said robot.
2. The robot system of claim 1, wherein said user interface
includes a list of remote control stations that can be selected by
the user.
3. The robot system of claim 1, wherein said user interface
includes a list of robots that can be selected by the user.
4. The robot system of claim 1, wherein said user interface
includes Menu buttons.
5. The robot system of claim 1, wherein said user interface
includes a Connect button and a Disconnect button.
6. The robot system of claim 1, wherein said user interface
provides a connectivity prompt.
7. The robot system of claim 1, wherein said robot includes a laser
pointer and said user interface includes a button to turn said
laser pointer on and off.
8. A method for providing a remote control station access to a
robot, comprising: displaying a user interface at a robot; and,
selecting an input to link a remote control station to the
robot.
9. The method of claim 8, wherein the user interface includes a
list of remote control stations and the user selects one of the
remote control stations to link the robot to the selected remote
control station.
10. The method of claim 8, further comprising displaying on the
user interface a list of robots and selecting one of the robots to
link the robot to the selected robot.
11. The method of claim 8, wherein the remote control station is
selected by manipulating Menu buttons of the user interface.
12. The method of claim 8, further comprising initiating a session
by selecting a Connect button of the user interface and terminating
the session by selecting a Disconnect button of the user
interface.
13. The method of claim 8, wherein the user provides access to the
robot by selecting a button displayed by the user interface in a
connectivity prompt.
14. The method of claim 8, further comprising selecting a button of
a user interface to turn on a laser pointer.
15. A robot system, comprising: a remote control station; and, a
robot that includes a camera, a monitor, a microphone, and a laser
pointer, said robot including a user interface that allows a user
to allow said remote control station to turn said laser pointer on
and off.
16. A robot system, comprising: a first robot that has a camera and
a monitor; and, a second robot that includes a camera, a monitor
and a microphone, said second robot including a user interface that
allows a user to link said first and second robots.
17. The robot system of claim 16, wherein said user interface
includes a list of robots that can be selected by the user.
18. The robot system of claim 16, wherein said user interface
includes Menu buttons.
19. The robot system of claim 16, wherein said user interface
includes a Connect button and a Disconnect button.
20. The robot system of claim 16, wherein said user interface
provides a connectivity prompt.
21. The robot system of claim 16, wherein said robot includes a
laser pointer and said user interface includes a button to turn
said laser pointer on and off.
22. A method for linking a first robot to a second robot,
comprising: displaying a user interface at a first robot; and,
selecting an input to link the first robot to a second robot.
23. The method of claim 22, wherein the user interface includes a
list of robots and the user selects one of the robots to link the
first and second robots.
24. The method of claim 22, wherein the remote control station is
selected by manipulating Menu buttons of the user interface.
25. The method of claim 22, further comprising initiating a session
by selecting a Connect button of the user interface and terminating
the session by selecting a Disconnect button of the user
interface.
27. The method of claim 22, wherein the user provides access to the
robot by selecting a button displayed by the user interface in a
connectivity prompt.
28. The method of claim 22, further comprising selecting a button
of a user interface to turn on a laser pointer.
Description
BACKGROUND OF THE INVENTION
[0001] 1. Field of the Invention
[0002] The subject matter disclosed generally relates to the field
of robotics.
[0003] 2. Background Information
[0004] Robots have been used in a variety of applications ranging
from remote control of hazardous material to assisting in the
performance of surgery. For example, U.S. Pat. No. 5,762,458 issued
to Wang et al. discloses a system that allows a surgeon to perform
minimally invasive medical procedures through the use of
robotically controlled instruments. One of the robotic arms in the
Wang system moves an endoscope that has a camera. The camera allows
a surgeon to view a surgical area of a patient.
[0005] There has been marketed a mobile tele-presence robot
introduced by InTouch Technologies, Inc., the assignee of this
application, under the trademark RP-7. The InTouch robot is
controlled by a user at a remote station. The remote station may be
a personal computer with a joystick that allows the user to
remotely control the movement of the robot. Both the robot and
remote station have cameras, monitors, speakers and microphones to
allow for two-way video/audio communication. The robot camera
provides video images to a screen at the remote station so that the
user can view the robot's surroundings and move the robot
accordingly. The teleconferencing sessions in the InTouch system
are initiated at the remote station sites. This may limit
accessibility to the system.
BRIEF SUMMARY OF THE INVENTION
[0006] A robot system that includes a remote control station and a
robot that has a camera, a monitor and a microphone. The robot
includes a user interface that allows a user to link the remote
control station to the robot.
BRIEF DESCRIPTION OF THE DRAWINGS
[0007] FIG. 1 is an illustration of a robotic system;
[0008] FIG. 2 is a schematic of an electrical system of a
robot;
[0009] FIG. 3 is side view of the robot;
[0010] FIG. 4 is a schematic of a robotic system wherein a robot
can be coupled to one or more remote stations and/or one or more
robots;
[0011] FIG. 5 is an illustration of a user interface;
[0012] FIG. 6 is an illustration of a message popup of the user
interface;
[0013] FIGS. 7A-C are illustrations of graphical messages;
[0014] FIG. 8 is an illustration of the user interface shown in
FIG. 5 with a pull-down menu;
[0015] FIG. 9 is an illustration showing a user interface for an
observer remote control station;
[0016] FIG. 10 is an illustration similar to FIG. 5 showing
microphone volume control features;
[0017] FIG. 11 is an illustration of a dialog box showing bandwidth
requirement of the system during a session;
[0018] FIG. 12 is a side view of a robot head;
[0019] FIG. 13 is a front view showing a user interface of a robot
head; and,
[0020] FIG. 14 is a front view of the robot head showing a
connectivity prompt.
DETAILED DESCRIPTION
[0021] Disclosed is a robot system that includes a remote control
station and a robot that has a camera, a monitor and a microphone.
The robot includes a user interface that allows a user to link the
remote control station to access the robot. By way of example, the
user interface may include a list of remote control stations that
can be selected by a user at the robot site to link the robot to
the selected control station. The user interface can display a
connectivity prompt that allows a user at the robot site to grant
access to the robot. The connectivity prompt is generated in
response to a request for access by a remote control station. The
robot may include a laser pointer and a button that allows a user
at the robot site to turn the laser pointer on and off.
[0022] Referring to the drawings more particularly by reference
numbers, FIG. 1 shows an embodiment of robot system 10. The robot
system 10 includes a robot 12, a base station 14 and a plurality of
remote control stations 16. Each remote control station 16 may be
coupled to the base station 14 through a network 18. By way of
example, the network 18 may be either a packet switched network
such as the Internet, or a circuit switched network such has a
Public Switched Telephone Network (PSTN) or other broadband system.
The base station 14 may be coupled to the network 18 by a modem 20
or other broadband network interface device.
[0023] Each remote control station 16 may include a computer 22
that has a monitor 24, a camera 26, a microphone 28 and a speaker
30. The computer 22 may also contain an input device 32 such as a
joystick or a mouse. Each control station 16 is typically located
in a place that is remote from the robot 12. Although only one
robot 12 is shown, it is to be understood that the system 10 may
have a plurality of robots 12. In general any number of robots 12
may be controlled by any number of remote stations. For example,
one remote station 16 may be coupled to a plurality of robots 12,
or one robot 12 may be coupled to a plurality of remote stations
16. Likewise, one robot may be accessed through another robot.
[0024] The robot 12 includes a movement platform 34 that is
attached to a robot housing 36. Also attached to the robot housing
36 are a camera 38, a monitor 40, a microphone(s) 42 and a speaker
44. The microphone 42 and speaker 30 may create a stereophonic
sound. The robot 12 may also have an antenna 46 that is wirelessly
coupled to an antenna 48 of the base station 14. The system 10
allows a user at the remote control station 16 to move the robot 12
through the input device 32. The robot camera 38 is coupled to the
remote monitor 24 so that a user at the remote station 16 can view
a patient. Likewise, the robot monitor 40 is coupled to the remote
camera 26 so that the patient can view the user. The microphones 28
and 42, and speakers 30 and 44, allow for audible communication
between the patient and the user.
[0025] Each remote station computer 22 may operate Microsoft OS
software and WINDOWS XP or other operating systems such as LINUX.
The remote computer 22 may also operate a video driver, a camera
driver, an audio driver and a joystick driver. The video images may
be transmitted and received with compression software such as MPEG
CODEC.
[0026] FIGS. 2 and 3 show an embodiment of the robot 12. The robot
12 may include a high level control system 50 and a low level
control system 52. The high level control system 50 may include a
processor 54 that is connected to a bus 56. The bus is coupled to
the camera 38 by an input/output (I/O) port 58, and to the monitor
40 by a serial output port 60 and a VGA driver 62. The monitor 40
may include a touchscreen function that allows the patient to enter
input by touching the monitor screen.
[0027] The speaker 44 is coupled to the bus 56 by a digital to
analog converter 64. The microphone 42 is coupled to the bus 56 by
an analog to digital converter 66. The high level controller 50 may
also contain random access memory (RAM) device 68, a non-volatile
RAM device 70 and a mass storage device 72 that are all coupled to
the bus 62. The mass storage device 72 may contain medical files of
the patient that can be accessed by the user at the remote control
station 16. For example, the mass storage device 72 may contain a
picture of the patient. The user, particularly a health care
provider, can recall the old picture and make a side by side
comparison on the monitor 24 with a present video image of the
patient provided by the camera 38. The robot antennae 46 may be
coupled to a wireless transceiver 74. By way of example, the
transceiver 74 may transmit and receive information in accordance
with IEEE 802.11b.
[0028] The controller 54 may operate with a LINUX OS operating
system. The controller 54 may also operate MS WINDOWS along with
video, camera and audio drivers for communication with the remote
control station 16. Video information may be transceived using MPEG
CODEC compression techniques. The software may allow the user to
send e-mail to someone at the robot site and vice versa, or allow
someone at the robot site to access the Internet. In general the
high level controller 50 operates to control the communication
between the robot 12 and the remote control station 16.
[0029] The high level controller 50 may be linked to the low level
controller 52 by serial port 76. The low level controller 52 runs
software routines that mechanically actuate the robot 12. For
example, the low level controller 52 provides instructions to
actuate the movement platform to move the robot 12. The low level
controller 52 may receive movement instructions from the high level
controller 50. The movement instructions may be received as
movement commands from the remote control station. Although two
controllers are shown, it is to be understood that the robot 12 may
have one controller controlling the high and low level
functions.
[0030] FIG. 3 shows an embodiment of the robot 12. The robot 12 may
include a holonomic platform 110 that is attached to a robot
housing 112. The holonomic platform 110 provides three degrees of
freedom to allow the robot 12 to move in any direction.
[0031] The robot 12 may have a head 114 that supports the camera 38
and the monitor 40. The head 114 may have two degrees of freedom so
that the camera 26 and monitor 24 can swivel and pivot as indicated
by the arrows.
[0032] The system may be the same or similar to a robot system
provided by the assignee InTouch Technologies, Inc. of Goleta,
Calif. under the trademark RP-7. The system may also be the same or
similar to the system disclosed in U.S. Pat. No. 6,925,357 issued
Aug. 2, 2005, which is hereby incorporated by reference.
[0033] In operation, the robot 12 may be placed in a home, public
or commercial property, or a facility where one or more patients
are to be monitored and/or assisted. The facility may be a hospital
or a residential care facility.
[0034] By way of example, the robot 12 may be placed in a home
where a health care provider may monitor and/or assist the patient.
Likewise, a friend or family member may communicate with the
patient. The cameras and monitors at both the robot and remote
control stations allow for teleconferencing between the patient and
the person at the remote station(s).
[0035] The robot 12 can be maneuvered through the home, property or
facility by manipulating the input device 32 at a remote station
16.
[0036] The robot 10 may be controlled by a number of different
users. To accommodate for this the robot may have an arbitration
system. The arbitration system may be integrated into the operating
system of the robot 12. For example, the arbitration technique may
be embedded into the operating system of the high-level controller
50.
[0037] By way of example, the users may be divided into classes
that include the robot itself, a local user, a caregiver, a doctor,
a family member, or a service provider. The robot 12 may override
input commands that conflict with robot operation. For example, if
the robot runs into a wall, the system may ignore all additional
commands to continue in the direction of the wall. A local user is
a person who is physically present with the robot. The robot could
have an input device that allows local operation. For example, the
robot may incorporate a voice recognition system that receives and
interprets audible commands.
[0038] A caregiver is someone who remotely monitors the patient. A
doctor is a medical professional who can remotely control the robot
and also access medical files contained in the robot memory. The
family and service users remotely access the robot. The service
user may service the system such as by upgrading software, or
setting operational parameters.
[0039] Message packets may be transmitted between a robot 12 and a
remote station 16. The packets provide commands and feedback. Each
packet may have multiple fields. By way of example, a packet may
include an ID field a forward speed field, an angular speed field,
a stop field, a bumper field, a sensor range field, a configuration
field, a text field and a debug field.
[0040] The identification of remote users can be set in an ID field
of the information that is transmitted from the remote control
station 16 to the robot 12. For example, a user may enter a user ID
into a setup table in the application software run by the remote
control station 16. The user ID is then sent with each message
transmitted to the robot.
[0041] The robot 12 may operate in one of two different modes; an
exclusive mode, or a sharing mode. In the exclusive mode only one
user has access control of the robot. The exclusive mode may have a
priority assigned to each type of user. By way of example, the
priority may be in order of local, doctor, caregiver, family and
then service user. In the sharing mode two or more users may share
access with the robot. For example, a caregiver may have access to
the robot, the caregiver may then enter the sharing mode to allow a
doctor to also access the robot. Both the caregiver and the doctor
can conduct a simultaneous tele-conference with the patient.
[0042] The arbitration scheme may have one of four mechanisms;
notification, timeouts, queue and call back. The notification
mechanism may inform either a present user or a requesting user
that another user has, or wants, access to the robot. The timeout
mechanism gives certain types of users a prescribed amount of time
to finish access to the robot. The queue mechanism is an orderly
waiting list for access to the robot. The call back mechanism
informs a user that the robot can be accessed. By way of example, a
family user may receive an e-mail message that the robot is free
for usage. Tables 1 and 2, show how the mechanisms resolve access
request from the various users.
TABLE-US-00001 TABLE I Access Medical Command Software/Debug Set
User Control Record Override Access Priority Robot No No Yes (1) No
No Local No No Yes (2) No No Caregiver Yes Yes Yes (3) No No Doctor
No Yes No No No Family No No No No No Service Yes No Yes Yes
Yes
TABLE-US-00002 TABLE II Requesting User Local Caregiver Doctor
Family Service Current Local Not Allowed Warn current user of Warn
current user of Warn current user of Warn current user of User
pending user pending user pending user pending user Notify
requesting Notify requesting user Notify requesting user Notify
requesting user that system is in that system is in use that system
is in use user that system is in use Set timeout = 5 m Set timeout
= 5 m use Set timeout Call back No timeout Call back Caregiver Warn
current user Not Allowed Warn current user of Warn current user of
Warn current user of of pending user. pending user pending user
pending user Notify requesting Notify requesting user Notify
requesting user Notify requesting user that system is that system
is in use that system is in use user that system is in in use. Set
timeout = 5 m Set timeout = 5 m use Release control Queue or
callback No timeout Callback Doctor Warn current user Warn current
user of Warn current user of Notify requesting user Warn current
user of of pending user pending user pending user that system is in
use pending user Notify requesting Notify requesting Notify
requesting user No timeout Notify requesting user that system is
user that system is in that system is in use Queue or callback user
that system is in in use use No timeout use Release control Set
timeout = 5 m Callback No timeout Callback Family Warn current user
Notify requesting Warn current user of Warn current user of Warn
current user of of pending user user that system is in pending user
pending user pending user Notify requesting use Notify requesting
user Notify requesting user Notify requesting user that system is
No timeout that system is in use that system is in use user that
system is in in use Put in queue or Set timeout = 1 m Set timeout =
5 m use Release Control callback Queue or callback No timeout
Callback Service Warn current user Notify requesting Warn current
user of Warn current user of Not Allowed of pending user user that
system is in request pending user Notify requesting use Notify
requesting user Notify requesting user user that system is No
timeout that system is in use that system is in use in use Callback
No timeout No timeout No timeout Callback Queue or callback
[0043] The information transmitted between the station 16 and the
robot 12 may be encrypted. Additionally, the user may have to enter
a password to enter the system 10. A selected robot is then given
an electronic key by the station 16. The robot 12 validates the key
and returns another key to the station 16. The keys are used to
encrypt information transmitted in the session.
[0044] FIG. 4 shows a system with a plurality of remote stations
16A, 16B and 16C that can access one or more robots 12A, 12B and
12C through the network 18. The system also allows one robot to
access other robots. The system can be set into an observation mode
wherein a master remote station 16A controls movement of the robot
and receives both video and audio information from the robot camera
and speaker, respectively. The observer stations 16B and 16C may
also receive audio and visual information transmitted between the
robot 12 and the station 16A. This mode allows multiple users at
stations 16B and 16C to observe use of the robot while a teacher or
master at station 16A moves the robot.
[0045] During a session the master remote station 16A can
retransmit the audio/visual information received from the robot 12
to the observer stations 16B and 16C. This can be done by changing
the ID(s) in the ID field of the data packets received from the
robot and then retransmitting the packets to the observer stations.
Alternatively, the master remote station 16A can instruct the robot
to transmit the audio and visual information to the master 16A, and
the observer 16B and 16C remote stations. It being understood that
each remote station 16A, 16B and 16C has a unique network
identifier such as an IP address that allows the robot to direct
information to each station. The packets may contain a BROADCAST
field that contains the station IDs for the remote stations that
are to receive packets from the robot. The BROADCAST field may be
filled by the master station 16A.
[0046] The session mode allows for training through the robot. For
example, the master remote station 16A may be operated by a
physician who moves the robot into visual and audio contact with a
patient. The observer remote stations 16B an 16C may be manned by
personnel such as interns that observe and receive instructional
training on providing care giving to the patient. Although
instruction of medical personnel is described, the system can be
used to train any group of users that are remotely located from a
training area. For example, the system may be used to train
personnel at a department store or allow potential buyers of real
estate property to remotely view the property.
[0047] FIG. 5 shows a display user interface ("DUI") 200 displayed
at the master control station 16A. The DUI 200 may include a robot
view field 202 that displays a video image captured by the camera
of the robot. The DUI 200 may also include a station view field 204
that displays a video image provided by the camera of the master
remote station 16A. The DUI 200 may be part of an application
program stored and operated by the computer 22 of the remote
station 16A.
[0048] The DUI 200 may include a "Connect" button 206 that can be
selected to connect the station to a robot. Selection of the
Connect button 206 may cause the display of pull-down screens, etc.
that allow the user to select a desired robot. System settings and
options can be selected through buttons 208 and 210,
respectively.
[0049] One of the options is to allow for multicasting. FIG. 6
shows a menu 212 with an "Enable Multicasting" box 214 that can be
"checked" to allow for other remote station join a multi-cast
session.
[0050] A user at an observer station may attempt a connection with
the same robot. If a robot is already in use the screen may display
a message box 216 as shown in FIG. 7A. The message box 216 includes
an "OK" button 218 that allows the user to request joining the
session as an observer. If the user presently connected to the
robot has not enabled the multicasting feature then a message 220
may be displayed indicating this fact as shown in FIG. 7B. If the
user selected the OK button 218 then the master user may receive
the message 222 shown in FIG. 7C. The message includes an "Accept"
button 224 and a "Deny" button 226 that allows the master user to
accept or deny the request to observe the session, respectively.
When an observer is accepted the observers may receive the
audio/video feeds from by the robot.
[0051] User's that are accepted are displayed in an observer view
field 228 of the master control station DUI 200 shown in FIG. 5.
The field 228 can provide video images of the users captured by the
cameras of the observer remote control stations. Each video image
may also include a caption of the observer's name. The field
includes a scroll down tab 230 that allows the master user to
scroll down the video images of the observers.
[0052] The master user can right click on any observer video image
to display the pull down menu 232 shown in FIG. 8. The pull down
menu 228 allows the master user to select various options for the
selected observer. The pull down menu 232 includes an "Allow The
Robot To Hear This User" feature 234 that can be selected so that
the observer can provide audio to the robot. The system may allow
for simultaneous three way audio between the robot, master user and
one observer. Both the master and the observer stations include a
"Push To Talk" icon 236. If there is more than one observer then
the "Push To Talk" icon 236 is enabled and the observer must
continuously select the icon 232 to talk, much like a walkie-talkie
button. The space bar may also be pushed after the icon 236 is
selected to allow audio communication to the robot. When Push To
Talk is selected then an icon 238 can be displayed in the observers
video image to indicate which observer is providing audio input to
the robot. The master and observer stations may also have a "Local
Talk" icon 240. Selecting the Local Talk icon allows for textual
communication between just the remote stations, popping up a text
chat dialog box within each interface, which allows the master and
observers to exchange text messages. Prior to displaying the text
chat dialog box, a popup dialog box (not shown) may be displayed to
the user who initiated Local Talk, which would list all current
session participants, and allow the user to select only those
participants to be part of the Local Talk. There may be a "Limit
Voice" box (not shown) that can be selected to limit audio output
of participants in the local chat to only those other remote
stations participating in the local chat.
[0053] An "Allow Robot To See This User" feature 242 can be
selected so that the observer's video image is provided to the
monitor of the robot instead of the master user's video image. The
observer's video image may be displayed in the station view field
204 when that observer's image is provided to the robot. The "Allow
This User To See Robot Video" 244 and "Allow This User To Hear
Robot Audio" features 246 can be selected so that the observer
receives the video and audio feeds from the robot,
respectively.
[0054] The "Head Control" feature 248 allows the selected observer
to control the robot head to move the robot camera. The "Driving"
feature 250 allows the observer to drive the robot. When the
Driving feature is selected robot data such as position sensor
data, battery power, etc. are provided to the selected observer's
remote station. The "Camera & Aux Video Control" feature 252
allows the observer to control robot camera functions such as zoom,
brightness, etc. The master no longer has the head, driving and
camera controls when these features are transferred to an
observer.
[0055] The menu 232 includes a "Telestration" feature 254 that
allows an observer to annotate an image provided by to robot. For
example, the image can be a document or an X-ray. An observer can
annotate the image, for example to circle and area of the X-ray to
help communicate with a patient at the robot site. The master or
any observer can enable a cursor function by selecting a "Live
Cursor" icon 256. Selecting the icon 256 allows the user to move a
cursor 258 that is overlayed on the robot video image. The cursor
258 is provided on the image field 202 for all remote stations in a
session. The master and observers can each be designated a
different color so that different cursors can be distinguished by
the users. The cursor color 260 can be displayed in the video image
of the master or the observer.
[0056] The robot may connected to a medical instrument such as a
stethoscope. The "Stethescope" feature 262 of the pull down menu
232 allows the observers to receive instrument input from the
stethoscope. The menu 232 may have a "Give This User Master
Control" feature 264 that allows the selected observer to become a
master user. The master can also disconnect an observer by
selecting the "Disconnect This User" feature 266.
[0057] FIG. 9 shows a user interface 270 for observer. The
interface does not include robot control functions unless enabled
by the master user. The interface 270 is similar to the master DUI
200, but lacks certain robot controls.
[0058] Referring again to FIG. 5, both the robot view field 202 and
the station view field 204 may have associated graphics to vary the
video and audio displays. For example, each field may have
graphical slide bars 280 and 282 to vary the zoom and brightness of
the cameras, respectively. A still picture may be taken at either
the robot or remote station by selecting one of the graphical
camera icons 284. The still picture may be the image presented at
the corresponding field 202 or 204 at the time the camera icon 284
is selected. Capturing and playing back video can be taken through
graphical icons 286. A return to real time video can be resumed,
after the taking of a still picture, captured video, or reviewing a
slide show, by selecting a graphical LIVE button 288.
[0059] The local controls can include slide bars for the local
station speaker 290 and microphone 292. Also displayed is a
microphone meter icon 294 that varies with the volume of the user's
voice. The robot volume may be different from the user's input
volume. The remote controls also includes a microphone meter icon
296 that represents the user's audio volume at the robot. The robot
may have a local volume control so that user's at the robot site
can vary the robot speaker volume. Normally the meter icons 294 and
296 will represent essentially the same value. The robot volume may
be different from the user's input volume, for example, if the
robot local volume control is adjusted the at the robot site. As
shown in FIG. 10, if this occurs the volume slide bar 292 may be
enabled to allow the user to vary the microphone. The DUI may also
display a "Reset" button 298 that can be selected to automatically
reset the robot speaker volume to a center position.
[0060] Referring to FIG. 5, the robot view field 202 may include a
"Video Mute To Robot" feature 300 which when selected prevents
audio and video transmission to the robot from all remote stations.
Field 202 may also have a "Master/Robot Privacy" feature 302 that
can prevent the observer stations from receiving robot video and
audio from both the robot and the master control station.
[0061] The master user can also be allowed to control the bandwidth
of the system by controlling the video feeds to the observer
stations. FIG. 11 shows a dialog box 310 that displays the
bandwidth usage of various participants in a session, along with
network health parameters such as packet losses and jitter between
participants. "Drop Vid" buttons 312 may be placed next to observer
stations so that the master user can drop a particular observer's
video.
[0062] FIG. 12 shows a non-mobile robot head 320 that can both
pivot and spin the camera 38 and the monitor 40. The robot head 320
can be similar to the robot 12 but without the platform 110. The
robot head 320 may have the same mechanisms and parts to both pivot
the camera 38 and monitor 40 about a pivot axis 4, and spin the
camera 38 and monitor 40 about a spin axis 5. The pivot axis may
intersect the spin axis. Having a robot head 320 that both pivots
and spins provides a wide viewing area. The robot head 320 may be
in the system either with or instead of the mobile robot 12.
[0063] FIG. 13 shows a robot head 400 that has a user interface
402. The robot head 400 may be part of a robot with a mobile
platform as shown in FIGS. 1 and 3, the head shown in FIG. 12, or
some other robotic system. For example, the head 400 may be
attached to a boom. The user interface 402 allows an operator at
the robot site to initiate and control access to the head 400. The
interface 402 may include a "Connect" button 404 and a "Disconnect"
button 406, that allow a user to initiate and terminate access to
the head 400, respectively. Menu buttons 408 may be located below
the buttons 404 and 406.
[0064] The interface 402 may display a list of remote stations
(Available Doctors) 410 and a list of robots (Available Robots)
412. The user can create a link with one or more remote station by
manipulating the Menu buttons 408 and selecting a highlighted
station 414. More than one remote station can be selected to create
a multi-casting session. The user can create access to other robots
by manipulating the Menu buttons 408 and selecting a highlighted
robot. A multi-casting session may also be created with multiple
robots by selecting multiple robots. By way of example, a doctor at
the robot site may provide access to another doctor at another
remote station. The doctor may also obtain access to another robot
located at another hospital location. The interface 402 allows a
user at the robot site to initiate a teleconferencing sessions. The
head 400 includes a camera(s) 416, microphone 418, speakers 420 and
monitor 422 to allow for two-way teleconferencing with one or more
remote stations and/or on or more other robots. The head may also
have a laser pointer 424 that emits a laser (not shown).
[0065] FIG. 14 shows the robot head 400 displaying a connectivity
prompt 430. The prompt 430 may include a message 432 such as "DR.
SMITH IS REQUESTING ACCESS. ACCEPT?" and YES 434 and NO 436
graphical buttons. The user of a remote station may select a
graphical icon (not shown) that causes the connectivity prompt 430
to appear. Access to the head 400 is not granted until a user at
the robot site selects the YES button 434 through the Menu buttons
408. Granting access may then allow the video and audio provided by
the head to be transmitted to the remote station. Alternatively,
audio may be provided when the prompt 430 is generated but before
access is granted. Granting access then provides the remote station
with the video feed from the head 400.
[0066] The head 400 may have a laser pointer 440 that can be used
to point at objects, etc. The head 400 may include a Laser Enable
button 438 that allows the user at the robot site to turn the laser
pointer 424 on and off. The user at the robot site may disable the
laser pointer, if for example, the laser creates a safety
issue.
[0067] The system may have numerous applications. For example, a
physician intensivist may initiate a remote presence session with a
robot in order to diagnose a patient in an Emergency Room. Upon
examining the patient, the physician may realize that the patient
assessment will require consultation by a neurology specialist. The
intensivist calls the neurologist by phone, asking him to join the
session. Upon receiving the telephone request, the neurologist
opens his laptop, selects the robot in question from the robot list
in the interface, and clicks "Connect". Seeing the message in FIG.
7A, he clicks "OK" and then sees the message in FIG. 7B. The
intensivist meanwhile sees the message in FIG. 7C and clicks
"Accept". At this point the neurologist receives the robot video
and can hear both the robot-side audio and the intensivist.
[0068] The intensivist uses the Live Cursor to point to the
patient's face and EEG data on a wall. The neurologist obtains
background information that can be provided by a nurse standing
next to the patient and in front of the robot, as well as
ICU-specific information provided by the intensivist on the master
control station. Then, the neurologist can provide an audio
assessment of the patient's condition. The intensivist then
right-clicks on the thumbnail image of the neurologist in field
288, and clicks the appropriate features in the pull-down menu to
allow the neurologist to be seen and heard on the robot. The
neurologist can then inform both the patient and family of the
condition.
[0069] In another application, a surgeon may be logged onto a robot
and performing rounds in patient rooms within a hospital. Residents
from hospitals in other cities join the session in the manner
described above. The surgeon describes what he is doing to the
residents, who may ask questions, and thereby learn the best way to
round patients.
[0070] In another application, a hospital CEO may connect to the
robot, and telephones three prospective doctors whom the hospital
is courting to join the staff. These doctors each join the session
as discussed above. The CEO then uses the joystick to drive the
robot through the hospital, performing a virtual tour, and
discusses the facility with the observer physicians.
[0071] In yet another application, a sales VP of an MRI
manufacturing company may connect to a robot in the laboratory wing
of a hospital, and then phones the COO of a different hospital to
join the session. Upon joining, the sales VP drives the robot into
the MRI lab and drives around the MRI machine, describing its
features. An on-site MRI technician operates certain controls on
the direction of the sales VP. The sales VP explains to the COO the
various benefits of purchasing the MRI machine.
[0072] While certain exemplary embodiments have been described and
shown in the accompanying drawings, it is to be understood that
such embodiments are merely illustrative of and not restrictive on
the broad invention, and that this invention not be limited to the
specific constructions and arrangements shown and described, since
various other modifications may occur to those ordinarily skilled
in the art.
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